| 基于拓扑法的多关节机械手无碰路径规划 |
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| 引用本文： | 李永成,张钹.基于拓扑法的多关节机械手无碰路径规划[J].软件学报,1993,4(5):11-16. |
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| 作者姓名： | 李永成 张钹 |
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| 作者单位： | 清华大学计算机系 北京 100084;清华大学计算机系 北京 100084 |
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| 摘 要： | 本文提出了一种基于拓扑法的多关节机械手无碰路径规划方法,文中重点讨论了三关节机械手路径规划时如何划分状态空间、判别各连通块之间的连通性以及路径搜索等问题,最后我们给出了一个实验结果以示该方法的有效性。
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| 关 键 词： | 机械手 拓扑法 无碰路径规划 |
| 收稿时间： | 1991/2/11 0:00:00 |
| 修稿时间： | 1991/6/23 0:00:00 |
COLLISION-FREE PATH PLANNING FOR A MULTI-JOINT ROBOTIC ARM BASED ON TOPOLOGICAL METHOD |
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| Li Yongcheng and Zhang Bo.COLLISION-FREE PATH PLANNING FOR A MULTI-JOINT ROBOTIC ARM BASED ON TOPOLOGICAL METHOD[J].Journal of Software,1993,4(5):11-16. |
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| Authors: | Li Yongcheng and Zhang Bo |
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| Abstract: | In this paper,a collision-free path planning for a multi-joint robotic arm based on topological method is presented. The problems of how to partition the Configuration Space,how to judge the connectivity between connected blocks and how to search for a path are mainly discussed,finally an experimental result is given to show the feasibility of the planning method. |
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